docs: def _check_valid_rotation(self, rotation):
          """Checks that the given rotation matrix is valid.
          """
          if not isinstance(rotation, np.ndarray) or not np.issubdtype(rotation.dtype, np.number):
              raise ValueError('Rotation must be specified as numeric numpy array')
  
          if len(rotation.shape) != 2 or rotation.shape[0] != 3 or rotation.shape[1] != 3:
              raise ValueError('Rotation must be specified as a 3x3 ndarray')
  
          if np.abs(np.linalg.det(rotation) - 1.0) > 1e-3:
              raise ValueError('Illegal rotation. Must have determinant == 1.0')